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Communication Dans Un Congrès Année : 2007

On the Design of PAMINSA: A New Class of Parallel Manipulators with High-Load Carrying Capacities

Résumé

1 This paper deals with the new results concerning the topologically decoupled parallel manipulators called PAMINSA. The conceptual design of these manipulators, in which the copying properties of pantograph linkage are used, allows obtaining a large payload capability. A newly synthesized fully decoupled 3 degrees of freedom manipulator is discussed and a systematic approach for motion generation of input point of each limb is presented. It is shown that the conditions of complete static balancing of limbs are not effective in the case of dynamic mode of operation. This is approved by numerical simulations and experiments.
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Dates et versions

hal-00451932 , version 1 (26-06-2019)

Identifiants

  • HAL Id : hal-00451932 , version 1

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Sébastien Briot, Sylvain Guegan, Eric Courteille, Vigen Arakelian. On the Design of PAMINSA: A New Class of Parallel Manipulators with High-Load Carrying Capacities. 2007 ASME International Design Engineering Technical Conferences (DETC 2007), Sep 2007, Las Vegas, United States. ⟨hal-00451932⟩
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